CN102158517A - Method for remotely and intelligently monitoring animal robot in the open - Google Patents
Method for remotely and intelligently monitoring animal robot in the open Download PDFInfo
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- CN102158517A CN102158517A CN2010105691648A CN201010569164A CN102158517A CN 102158517 A CN102158517 A CN 102158517A CN 2010105691648 A CN2010105691648 A CN 2010105691648A CN 201010569164 A CN201010569164 A CN 201010569164A CN 102158517 A CN102158517 A CN 102158517A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a method for remotely and intelligently monitoring an animal robot in the open. A backpack and a handheld control terminal are wirelessly connected with a base station respectively. The base station, a general packet radio service (GPRS) gateway server and the Internet are sequentially connected in a wired way. A desktop control terminal and a monitoring center are in wired connection with the Internet respectively. Control instructions are input by the terminals, transmitted to the monitoring center for temporary storage by the connection, and transmitted to the backpack after the data of the backpack is transmitted to the monitoring center to finish monitoring the animal robot. The method has the advantages of 1, remotely monitoring the animal robot; 2, realizing remote indoor master control by utilizing a computer terminal; 3, realizing remote indoor-outdoor mobile master control by utilizing the handheld control terminal; 4, displaying monitoring data by utilizing an electronic map; and 5, realizing long-term monitoring in the open. In brief, the method is wide in monitoring coverage area, flexible in control ways, suitable for all-weather, wide-area and long-term monitoring; and the animal robot can be operated to detect danger zones or applied to military scouting so as to achieve huge economic and social benefits.
Description
Technical field
The present invention is the method for the open-air remotely intelligently monitoring of a kind of animal robot, promptly under the longest situation of electronic installation (hereinafter to be referred as the knapsack) standby that the assurance animal robot is born, long distance wireless is realized data acquisition and the intelligence control method to animal robot wild environment information of living in.
Background technology
" animal robot " is meant motion function, the power generating system that utilizes animal, from animal feel import into or innervation is set about, realize the motion of animal and the artificial control of some behavior.Along with the development of related disciplines such as brain science, computer science, control and microelectric technique and interpenetrate, formed the cross discipline in a forward position, quickened the progress of animal robot.
Before the present invention makes, animal robot is monitored mainly based on on-site supervision.Normally utilize transmitter of monitoring software control of desktop computer,, control command is sent on the animal robot knapsack by wireless transmission.Knapsack is with the stimulus signal of the paired animal of instruction transformation of reception, and is neural accordingly by the electrode stimulating animal, thereby impels animal to finish the action of appointment.Simultaneously, knapsack returns the data of animal robot collection to transmitter, finishes simple data acquisition, and the control of this kind pattern is simple with monitoring mode, can realize the on-site supervision of animal behavior.But it is very near that this mode is monitored distance, generally in 300 meters, can not realize the remote-wireless monitoring.Because this mode needs the support of computer equipment, therefore, often is confined to laboratory experiment, is difficult to carry out the monitoring of open-air animal.In addition, under this pattern, the animal robot knapsack is in accepting state constantly, receives communication chip and will constantly carry out the detection of wireless signal, need expend bigger power.And knapsack is fixed on the animal health, need be by the powered battery of small volume, and therefore, this mode will reduce the power-on time of battery greatly, causes that knapsack is very fast can't work because of running down of battery.
At present, the research of carrying out animal robot remote monitoring aspect is less, mainly concentrates on to utilize cable network (as the Internet network) to carry out the transmission of signal.According to Xinhua News Agency Nanjing on January 28th, 2010, the Wang Zhigong of Southeast China University's radio frequency and optoelectronic IC research institute professor utilizes neural bridge of microelectronics and Internet network, has realized the mutual inductance interaction of two toads in Nanjing and Pekinese.Though the Internet network can be realized long-range transmission, all higher to the requirement of main control device and controlled device, must be the computer that can surf the Net, therefore also be not suitable for the field monitoring of animal robot.
In sum, animal robot is carried out long-range open-air monitoring need a kind of control appliance simple in structure and powerful, and the knapsack of animal robot should be that microbody is long-pending, little power consumption, can support animal robot long-term work in the open air.
Summary of the invention
The present invention mainly is the deficiency at above-mentioned existence, the new method of the open-air remote monitoring of a kind of animal robot of proposition.Promptly utilize GPRS (integrating the subpackage wireless communication services) mobile radio network to link to each other, realize the remote transmission of monitor message, thereby guaranteed remote command and monitoring animal robot with the Internet network.The animal robot knapsack connects controllable power switch by main controller, has realized that power supply is controlled to combine with intermittent duty, has guaranteed the open-air long-term stand-by operation of knapsack.Simultaneously, this method makes Surveillance center be connected respectively with knapsack, hand-hold type control terminal and desktop control terminal by above-mentioned transmission network, and animal robot is implemented monitoring, makes control mode more flexible.This method utilizes GPS (global positioning system) that open-air animal robot is positioned, thereby realizes the accurate tracking to open-air animal robot movement locus.
Technical scheme of the present invention is:
Native system is made up of five parts: knapsack, transmission network, Surveillance center, desktop control terminal and hand-hold type control terminal.
Knapsack is the animal robot knapsack, is the electronic installation that is fixed on the animal robot health, is the main field apparatus of finishing the animal robot monitoring.Consider that the general volume of animal robot is all less, it is limited to bear a heavy burden, and therefore, the animal robot knapsack must amass by microbody.In order to support long-term field work, the animal robot knapsack should have little power consumption simultaneously.Knapsack mainly is made up of seven parts: main controller, GPS, GPRS, data acquisition, the stimulation of boosting, battery, controllable power switch.Battery connects main controller and controllable power switch respectively by power line, so that electric energy to be provided.Main controller connects modules such as controllable power switch, GPS, GPRS, data acquisition, the stimulation of boosting respectively by holding wire, finishes data processing and control with upper module.Controllable power switch by power line connect GPS, GPRS, data acquisition respectively, module such as the stimulation of boosting, for it provides electric energy.
Main controller adopts the ultra low-power microcontroller C8051F041 of U.S. Silab company, and this single-chip microcomputer is SoC (SOC (system on a chip)), is integrated with 2 UART (asynchronous serial port), 1 DAC (digital-to-analogue conversion), 2 ADC (analog-to-digital conversion).The data that receive main controller data acquisition module and GPS module transmit, and pass to the GPRS module and carry out long-range transmission.Simultaneously, main controller is handled the remote control commands that the GPRS module receives, and finishes nerve stimulation to animal by its inner DAC control stimulating module that boosts, thereby finishes the control to animal.The GPS module is finished the collection of global location data by receiving satellite signal.The GPS module adopts the GPS receiver GS-89 of MTK scheme, and this module adopts the GPS chipset of SiRF StarIII to position Data Receiving.The GPS module connects main controller by the UART 0 of single-chip microcomputer.The GPRS module adopts the EM310 of Huawei Company to finish long distance wireless GPRS communication function.The GPRS module connects main controller by UART 1.The built-in sim card slot of GPRS module links to each other with SIM card.The information such as address, animal robot parameter that includes the GPRS client in the SIM card.The digital temperature sensor DS18B20 that data acquisition module mainly adopts U.S. DALLAS company to produce gathers ambient temperature, this chip can directly be exported the dut temperature value of 9-12 position (containing sign bit), and DS18B20 directly links to each other with main controller by an IO mouth.Battery adopts chargeable lithium cell as the power supply of whole knapsack, and nominal voltage is 3.7V, and capacity is about 400mAh.Volume is 29mm * 14mm * 9mm.Because relevant with stimulation voltage to the control action of animal, be the low-voltage power supply of 3.7V and native system adopts, so animal is stimulated when controlling, need boost.The DC-DC that the chip that boosts adopts National Semiconductor the to produce chip LM2731X that boosts rises to 15V with the supply voltage of boost pulse.The control pin of chip of boosting links to each other with single-chip microcomputer IO mouth by holding wire, and its power supply input pin links to each other with the output of controllable power switch by power line, the supply pin of its power supply output pin concatenation operation amplifier.Constitute the in-phase proportion amplifying circuit by operational amplifier.The DAC output pin of main controller single-chip microcomputer and the in-phase end of amplifier are connected, and with the different boost pulse of output voltage, finish the control to animal robot.Controllable power switch is made of four PNP triodes and resistance.
In order to guarantee the knapsack long-term work, knapsack adopts the gap supply power mode.Except that main controller, the power pins of other modules is connected with controllable power switch by power line, connects controllable power switch by main controller by holding wire, and it is controlled.Carve at one's leisure, main controller cuts out controllable power switch earlier, cuts off its out-put supply, again main controller self is placed resting state, and this moment, the electric current of knapsack was the quiescent current of main controller and the cut-off current of controllable power switch, can ignore substantially.Every set time (as 10 minutes), main controller wakes himself up by timer internal, opens controllable power switch again and carries out work.Whole run duration was set at about 1 minute.Because the mean value of knapsack duration of work electric current is about about 10mA, then the sustainable work of the battery of 400mAh is 40 hours.Calculated in 1 minute every work in 10 minutes according to above, then but stand-by time is about 400 hours, add 40 hours operating times, promptly this knapsack can be supported the monitoring period of open-air animal robot is reached 18.3 days, can satisfy the monitoring need of work of open-air animal robot substantially.
Transmission network comprises GPRS mobile radio network and Internet network two parts.The GPRS mobile radio network is connected and composed by a plurality of base stations and GPRS gateway server.Extensively the base station that distributes is the main body that constitutes the mobile network.Knapsack is connected with nearest base station by GPRS module, wireless transmission link, and knapsack encapsulates locating information and image data according to WMMP (radio equipment management agreement), utilize the GPRS module to send to the base station.The base station is connected to the GPRS gateway server by holding wire, and the GPRS gateway server is finished the conversion between the ICP/IP protocol of the WMMP agreement of wireless GPRS communication and Internet network communication.The GPRS gateway server is connected with Surveillance center through the Internet network, is sent to Surveillance center through data converted through the Internet network.Finish the data upload of animal robot.Control command is identical therewith to the bang path of animal robot by Surveillance center.
Surveillance center comprises equipment such as monitoring server, memory device, display screen, and above equipment connects by industry ethernet.Operation has the animal robot monitor system software on the monitoring server, finishes the reception of animal robot collection and locator data, and it is transmitted to desktop control terminal and hand-hold type control terminal.Simultaneously, this system will receive the instruction of desktop control terminal and hand-hold type control terminal, and it is transmitted to animal robot.The animal robot monitor system software comprises network communication module, control treatment module, data processing module, GIS (GIS-Geographic Information System) display module.The network communication module mainly is to utilize ICP/IP protocol and Internet network, finishes the data passes between two kinds of control terminals and the knapsack.Control treatment module mainly is to explain the instruction of being sent by two kinds of control terminals, and it is transmitted to animal robot.Data processing module mainly is that the animal robot image data that receives and locating information are carried out preliminary treatment and storage and it is transmitted to two kinds of control terminals.The GIS display module is mainly realized the electronic chart of animal robot image data and locating information is shown, this module is by the dissection process to packet, and carry out map match in conjunction with the GIS GIS-Geographic Information System, can on electronic chart, show the information such as current geographic position, image data of animal robot clearly.Memory device is mainly finished the storage to animal robot image data and locating information.Display screen is realized the large scale display to electronic chart.
The desktop control terminal is the common computer that links to each other with the Internet network by holding wire, mainly realizes consulting of the assigning of control command, animal robot collection and locator data, and the functions such as demonstration of GIS electronic chart.Animal robot monitor system software and desktop control terminal software adopt the B/S framework to realize.
The hand-hold type control terminal uses the common mobile phone with GPRS function of surfing the Net, is connected with nearest base station by wireless transmission link.Operation has the javascript client-side program on the hand-hold type control terminal, mainly realizes functions such as consulting of the assigning of control command, animal robot collection and locator data.
The user can send to control command the monitoring server of Surveillance center by desktop control terminal and Internet network.Simultaneously, the user also can send to the base station with control command by the hand-hold type control terminal, after the GPRS gateway server is handled, gives monitoring server by the Internet network delivery again.Monitoring server after receiving control command is kept in it.Receive the passback data of animal robot when monitoring server after, earlier temporary control command is sent to the GPRS gateway server, pass to animal robot through the base station, the passback data that to receive simultaneously pass to the hand-hold type control terminal through GPRS gateway server and base station, or give the desktop control terminal through the Internet Network Transmission.
By above design, can realize the outdoorsman remotely intelligently monitoring of animal robot.The present invention compares with existing method, and under equal conditions have the following advantages: (1) monitor coverage area territory is extensive, can carry out long-range mobile monitor to open-air animal robot.As long as the monitoring of open-air animal robot all can be carried out in the place that has mobile phone signal to cover in theory.(2) can utilize the computer terminal to carry out remote monitoring.The user is as long as the desktop computer by surfing the Net all can carry out the remote monitoring of computer terminal.(3) can utilize the hand-hold type control terminal to carry out remote monitoring, as long as in the zone that mobile phone signal can cover, the user all can carry out remote monitoring to animal robot by the hand-hold type control terminal.(4) in Surveillance center, can utilize electronic chart, the geographical position and the image data of animal robot are carried out graphical visual display.(5) the animal robot knapsack adopts controlled the combining with intermittent mode of power supply to carry out work, has extremely low power, can support the long-time monitoring of open-air animal robot.(6) this method also can be used on other long-range open-air monitoring system field, as monitoring of haulage vehicle, police etc.In a word the present invention be to open-air animal robot carry out remote monitoring a kind of better method, can realize long-time open-air monitoring to animal robot.The monitor coverage area territory is extensive, control mode is flexible, is fit to round-the-clock, wide area monitoring.Utilize this method, can handle open-air robot and carry out detection operations in the deathtrap, also can be applicable to the military surveillance field, have economic and social benefit widely.
Description of drawings
Now be further described in conjunction with the accompanying drawings:
Accompanying drawing 1 is that the open-air remotely intelligently monitoring of animal robot of the present invention system forms schematic diagram.
With reference to accompanying drawing 1, the user sends to control command by desktop control terminal [18] and Internet network [19] monitoring server [17] of Surveillance center [11].Simultaneously, the user also can pass through hand-hold type control terminal [7] input control order, through base station [8], is transferred to after GPRS gateway server [20] handles, and passes to monitoring server [17] by Internet network [19] again.Monitoring server [17] after receiving control command is kept in it, and waits for the arrival of animal robot [21] image data.Arrive when knapsack [24] the work timing time of animal robot [21], then main controller [23] is waken up, and its control controllable power switch [25] is each module for power supply of knapsack [24].GPS[1] module obtains locator data by HA Global Positioning Satellite [2].Data acquisition [3] module obtains the ambient temperature data of detection.GPRS[4] module will be located and image data sends to base station [8], after passing through GPRS gateway server [20] again and handling, pass to the monitoring server [17] of Surveillance center [11] by Internet network [19].Monitoring server this moment [17] sends to control command the knapsack [24] of animal robot [21] again through Internet network [19], GPRS gateway server [20] and base station [8], and by stimulation [5] module of boosting, drive electrode [6] is finished stimulation and controlled function to animal robot [21].Simultaneously, monitoring server [17] is sent into large-screen [10] with the locating information and the image data that receive by industry ethernet [12], shows with the form of electronic chart, and related data is stored in the mass-memory unit [9].In addition, monitoring server [17] is also carried out control command the collection and the locator data of information and animal robot [21] passback, passes to desktop control terminal [18] by Internet network [19].Perhaps pass to hand-hold type control terminal [7], thereby finish remote monitoring process animal robot [21] by Internet network [19], GPRS gateway server [20] and base station [8].Meanwhile, the knapsack [24] of animal robot [21] is through 1 minute work, after finishing the reception of control command and carrying out, changes the standby sleep mode over to.
Can reach purpose of the present invention by above flow process.
Embodiment
Execution mode one: the user uses the desktop control terminal to control
With reference to accompanying drawing 1, the user sends to control command by desktop control terminal [18] and Internet network [19] monitoring server [17] of Surveillance center [11].Monitoring server [17] after receiving control command is kept in it, and waits for the arrival of animal robot [21] image data.Arrive when knapsack [24] the work timing time of animal robot [21], then main controller [23] is waken up, and its control controllable power switch [25] is each module for power supply of knapsack [24].GPS[1] module obtains locator data by HA Global Positioning Satellite [2].Data acquisition [3] module obtains the ambient temperature data of detection.GPRS[4] module will be located and image data sends to base station [8], after passing through GPRS gateway server [20] again and handling, pass to the monitoring server [17] of Surveillance center [11] by Internet network [19].Monitoring server this moment [17] sends to control command the knapsack [24] of animal robot [21] again through Internet network [19], GPRS gateway server [20] and base station [8], and by stimulation [5] module of boosting, drive electrode [6] is finished stimulation and controlled function to animal robot [21].Simultaneously, monitoring server [17] is sent into large-screen [10] with the locating information and the image data that receive by industry ethernet [12], shows with the form of electronic chart, and related data is stored in the mass-memory unit [9].In addition, monitoring server [17] is also carried out control command the collection and the locator data of information and animal robot [21] passback, pass to desktop control terminal [18] by Internet network [19], thereby finish remote monitoring process animal robot [21].Meanwhile, animal robot [21] knapsack [24] is through 1 minute work, after finishing the reception of control command and carrying out, changes the standby sleep mode over to.
Execution mode two: the user uses the hand-hold type control terminal to control
With reference to accompanying drawing 1, the user after GPRS gateway server [20] processing, passes to monitoring server [17] by Internet network [19] by hand-hold type control terminal [7].Monitoring server [17] after receiving control command is kept in it, and waits for the arrival of animal robot [21] image data.Arrive when knapsack [24] the work timing time of animal robot [21], then main controller [23] is waken up, and its control controllable power switch [25] is each module for power supply of knapsack [24].GPS[1] module obtains locator data by HA Global Positioning Satellite [2].Data acquisition [3] module obtains the ambient temperature data of detection.GPRS[4] module will be located and image data sends to base station [8], after passing through GPRS gateway server [20] again and handling, pass to the monitoring server [17] of Surveillance center [11] by Internet network [19].Monitoring server this moment [17] sends to control command the knapsack [24] of animal robot [21] again through Internet network [19], GPRS gateway server [20] and base station [8], and by stimulation [5] module of boosting, drive electrode [6] is finished stimulation and controlled function to animal robot [21].Simultaneously, monitoring server [17] is sent into large-screen [10] with the locating information and the image data that receive by industry ethernet [12], shows with the form of electronic chart, and related data is stored in the mass-memory unit [9].In addition, monitoring server [17] is also carried out control command the collection and the locator data of information and animal robot [21] passback, pass to hand-hold type control terminal [7] by Internet network [19], GPRS gateway server [20] and base station [8], thereby finish remote monitoring process animal robot [21].Meanwhile, the knapsack [24] of animal robot [21] is through 1 minute work, after finishing the reception of control command and carrying out, changes the standby sleep mode over to.
Execution mode three: no control command pattern
Arrive when knapsack [24] the work timing time of animal robot [21], then main controller [23] is waken up, and its control controllable power switch [25] is each module for power supply of knapsack [24].GPS[1] module obtains locator data by HA Global Positioning Satellite [2].Data acquisition [3] module obtains the ambient temperature data of detection.GPRS[4] module will be located and image data sends to base station [8], after passing through GPRS gateway server [20] again and handling, pass to the monitoring server [17] of Surveillance center [11] by Internet network [19].Monitoring server this moment [17] is sent into large-screen [10] with the locating information and the image data that receive by industry ethernet [12], shows with the form of electronic chart, and related data is stored in the mass-memory unit [9].The knapsack [24] of animal robot [21] through 1 minute work after, change the standby sleep mode over to.
Claims (4)
1. the method for the open-air remotely intelligently monitoring of an animal robot, comprise knapsack, hand-hold type control terminal, base station, GPRS gateway server, Internet network, Surveillance center and desktop control terminal, it is characterized in that: knapsack [24], hand-hold type control terminal [7] respectively with base station [8] wireless connections, base station [8], GPRS gateway server [20], wired being linked in sequence of Internet network [19], desktop control terminal [18], Surveillance center [11] respectively with Internet network [19] wired connection.
2. the method for the open-air remotely intelligently monitoring of a kind of animal robot according to claim 1, it is characterized in that described knapsack [24] comprising: main controller [23], GPS[1], GPRS[4], data acquisition [3], the stimulation [5] of boosting, battery [22], controllable power switch seven modules such as [25], and relevant low power consumption data collection, communication and Control Software, main controller [23] links to each other with battery [22] by power line, connect controllable power switch [25] by holding wire, controllable power switch [25] links to each other with other modules except that main controller [23] by power line.
3. the method for the open-air remotely intelligently monitoring of a kind of animal robot according to claim 1 is characterized in that described knapsack [24] passes through GPRS[4] and base station [8] wireless connections.
4. the method for the open-air remotely intelligently monitoring of a kind of animal robot according to claim 1, it is characterized in that described hand-hold type control terminal [7] is connected with Surveillance center [11] by base station [8], GPRS gateway server [20] and Internet network [19], desktop control terminal [18] is connected with Surveillance center [11] by Internet network [19], and knapsack [24] is connected with Surveillance center [11] by base station [8], GPRS gateway server [20] and Internet network [19].
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| CN201010569164.8A CN102158517B (en) | 2010-11-25 | 2010-11-25 | Method for remotely and intelligently monitoring animal robot in the open |
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| CN201010569164.8A CN102158517B (en) | 2010-11-25 | 2010-11-25 | Method for remotely and intelligently monitoring animal robot in the open |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013107372A1 (en) * | 2012-01-19 | 2013-07-25 | 苏州宝时得电动工具有限公司 | Self-propelled mobile apparatus |
| CN105100233A (en) * | 2015-07-14 | 2015-11-25 | 上海智臻智能网络科技股份有限公司 | Sweeping robot wakeup method and system |
| CN108698562A (en) * | 2016-03-01 | 2018-10-23 | 株式会社东海理化电机制作所 | Portable equipment |
| CN109104460A (en) * | 2018-07-05 | 2018-12-28 | 佛山市新里图信息技术有限公司 | A kind of system of robot competition data collection |
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| CN1804933A (en) * | 2005-01-14 | 2006-07-19 | 江西巴士在线传媒有限公司 | Onboard digital audio/video electronic device |
| US20070061041A1 (en) * | 2003-09-02 | 2007-03-15 | Zweig Stephen E | Mobile robot with wireless location sensing apparatus |
| CN101753993A (en) * | 2009-12-18 | 2010-06-23 | 浙江大学 | Remote video monitoring system combining with wireless sensor network |
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| US20070061041A1 (en) * | 2003-09-02 | 2007-03-15 | Zweig Stephen E | Mobile robot with wireless location sensing apparatus |
| CN1804933A (en) * | 2005-01-14 | 2006-07-19 | 江西巴士在线传媒有限公司 | Onboard digital audio/video electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013107372A1 (en) * | 2012-01-19 | 2013-07-25 | 苏州宝时得电动工具有限公司 | Self-propelled mobile apparatus |
| CN105100233A (en) * | 2015-07-14 | 2015-11-25 | 上海智臻智能网络科技股份有限公司 | Sweeping robot wakeup method and system |
| CN108698562A (en) * | 2016-03-01 | 2018-10-23 | 株式会社东海理化电机制作所 | Portable equipment |
| CN109104460A (en) * | 2018-07-05 | 2018-12-28 | 佛山市新里图信息技术有限公司 | A kind of system of robot competition data collection |
| CN109104460B (en) * | 2018-07-05 | 2021-10-19 | 北京凯思博科技有限公司 | Robot competition data collection system and collection method |
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| CN102158517B (en) | 2014-09-24 |
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